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Hotfix for threading regression in 2.7 #9

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38b72ae
tp: fixed bad return type for Rigid tap target and threading regression
robEllenberg Mar 4, 2015
99e9c6d
posemath: fix for argument types when in debug mode due to pass-by-re…
robEllenberg Mar 4, 2015
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8 changes: 6 additions & 2 deletions src/emc/tp/tc.c
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Original file line number Diff line number Diff line change
Expand Up @@ -680,10 +680,14 @@ int pmRigidTapInit(PmRigidTap * const tap,

}

int pmRigidTapTarget(PmRigidTap * const tap, double uu_per_rev)
double pmRigidTapTarget(PmRigidTap * const tap, double uu_per_rev)
{
// allow 10 turns of the spindle to stop - we don't want to just go on forever
return tap->xyz.tmag + 10. * uu_per_rev;
double overrun = 10. * uu_per_rev;
double target = tap->xyz.tmag + overrun;
tp_debug_print("initial tmag = %.12g, added %.12g for overrun, target = %.12g\n",
tap->xyz.tmag, overrun,target);
return target;
}

/** Returns true if segment has ONLY rotary motion, false otherwise. */
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2 changes: 1 addition & 1 deletion src/emc/tp/tc.h
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Expand Up @@ -77,7 +77,7 @@ int pmRigidTapInit(PmRigidTap * const tap,
EmcPose const * const start,
EmcPose const * const end);

int pmRigidTapTarget(PmRigidTap * const tap, double uu_per_rev);
double pmRigidTapTarget(PmRigidTap * const tap, double uu_per_rev);

int tcInit(TC_STRUCT * const tc,
int motion_type,
Expand Down
17 changes: 9 additions & 8 deletions src/emc/tp/tp.c
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Expand Up @@ -1499,7 +1499,7 @@ STATIC int tpRunOptimization(TP_STRUCT * const tp) {
int cutoff_ratio = BLEND_DIST_FRACTION / 2.0;

if (progress_ratio >= cutoff_ratio) {
tp_debug_print("segment %d has moved past %f\% progress, cannot blend safely!\n",
tp_debug_print("segment %d has moved past %f percent progress, cannot blend safely!\n",
ind-1, cutoff_ratio * 100.0);
return TP_ERR_OK;
}
Expand Down Expand Up @@ -2184,15 +2184,15 @@ STATIC void tpUpdateRigidTapState(TP_STRUCT const * const tp,

switch (tc->coords.rigidtap.state) {
case TAPPING:
rtapi_print_msg(RTAPI_MSG_DBG, "TAPPING");
tc_debug_print("TAPPING\n");
if (tc->progress >= tc->coords.rigidtap.reversal_target) {
// command reversal
emcmotStatus->spindle.speed *= -1.0;
tc->coords.rigidtap.state = REVERSING;
}
break;
case REVERSING:
rtapi_print_msg(RTAPI_MSG_DBG, "REVERSING");
tc_debug_print("REVERSING\n");
if (new_spindlepos < old_spindlepos) {
PmCartesian start, end;
PmCartLine *aux = &tc->coords.rigidtap.aux_xyz;
Expand All @@ -2211,17 +2211,17 @@ STATIC void tpUpdateRigidTapState(TP_STRUCT const * const tp,
tc->coords.rigidtap.state = RETRACTION;
}
old_spindlepos = new_spindlepos;
rtapi_print_msg(RTAPI_MSG_DBG, "Spindlepos = %f", new_spindlepos);
tc_debug_print("Spindlepos = %f\n", new_spindlepos);
break;
case RETRACTION:
rtapi_print_msg(RTAPI_MSG_DBG, "RETRACTION");
tc_debug_print("RETRACTION\n");
if (tc->progress >= tc->coords.rigidtap.reversal_target) {
emcmotStatus->spindle.speed *= -1;
tc->coords.rigidtap.state = FINAL_REVERSAL;
}
break;
case FINAL_REVERSAL:
rtapi_print_msg(RTAPI_MSG_DBG, "FINAL_REVERSAL");
tc_debug_print("FINAL_REVERSAL\n");
if (new_spindlepos > old_spindlepos) {
PmCartesian start, end;
PmCartLine *aux = &tc->coords.rigidtap.aux_xyz;
Expand All @@ -2239,7 +2239,7 @@ STATIC void tpUpdateRigidTapState(TP_STRUCT const * const tp,
old_spindlepos = new_spindlepos;
break;
case FINAL_PLACEMENT:
rtapi_print_msg(RTAPI_MSG_DBG, "FINAL_PLACEMENT\n");
tc_debug_print("FINAL_PLACEMENT\n");
// this is a regular move now, it'll stop at target above.
break;
}
Expand Down Expand Up @@ -2525,7 +2525,8 @@ STATIC int tpActivateSegment(TP_STRUCT * const tp, TC_STRUCT * const tc) {

if (segment_time < cutoff_time &&
tc->canon_motion_type != EMC_MOTION_TYPE_TRAVERSE &&
tc->term_cond == TC_TERM_COND_TANGENT)
tc->term_cond == TC_TERM_COND_TANGENT &&
tc->motion_type != TC_RIGIDTAP)
{
tp_debug_print("segment_time = %f, cutoff_time = %f, ramping\n",
segment_time, cutoff_time);
Expand Down
22 changes: 12 additions & 10 deletions src/libnml/posemath/_posemath.c
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Original file line number Diff line number Diff line change
Expand Up @@ -221,7 +221,9 @@ int pmRotQuatConvert(PmRotationVector const * const r, PmQuaternion * const q)

#ifdef PM_DEBUG
/* make sure r is normalized */
if (0 != pmRotNorm(r, &r)) {
//FIXME breaks const promise
PmRotationVector r_raw = *r;
if (0 != pmRotNorm(&r_raw, r)) {
#ifdef PM_PRINT_ERROR
pmPrintError
("error: pmRotQuatConvert rotation vector not normalized\n");
Expand Down Expand Up @@ -325,7 +327,7 @@ int pmQuatRotConvert(PmQuaternion const * const q, PmRotationVector * const r)
double sh;

#ifdef PM_DEBUG
if (!pmQuatIsNorm(&q)) {
if (!pmQuatIsNorm(q)) {
#ifdef PM_PRINT_ERROR
pmPrintError("Bad quaternion in pmQuatRotConvert\n");
#endif
Expand Down Expand Up @@ -356,7 +358,7 @@ int pmQuatRotConvert(PmQuaternion const * const q, PmRotationVector * const r)
int pmQuatMatConvert(PmQuaternion const * const q, PmRotationMatrix * const m)
{
#ifdef PM_DEBUG
if (!pmQuatIsNorm(&q)) {
if (!pmQuatIsNorm(q)) {
#ifdef PM_PRINT_ERROR
pmPrintError("Bad quaternion in pmQuatMatConvert\n");
#endif
Expand Down Expand Up @@ -1070,7 +1072,7 @@ int pmQuatAxisAngleMult(PmQuaternion const * const q, PmAxis axis, double angle,
double sh, ch;

#ifdef PM_DEBUG
if (!pmQuatIsNorm(&q)) {
if (!pmQuatIsNorm(q)) {
#ifdef PM_PRINT_ERROR
pmPrintError("error: non-unit quaternion in pmQuatAxisAngleMult\n");
#endif
Expand Down Expand Up @@ -1275,7 +1277,7 @@ int pmMatMatMult(PmRotationMatrix const * const m1, PmRotationMatrix const * con
int pmQuatQuatCompare(PmQuaternion const * const q1, PmQuaternion const * const q2)
{
#ifdef PM_DEBUG
if (!pmQuatIsNorm(&q1) || !pmQuatIsNorm(&q2)) {
if (!pmQuatIsNorm(q1) || !pmQuatIsNorm(q2)) {
#ifdef PM_PRINT_ERROR
pmPrintError("Bad quaternion in pmQuatQuatCompare\n");
#endif
Expand Down Expand Up @@ -1358,7 +1360,7 @@ int pmQuatInv(PmQuaternion const * const q1, PmQuaternion * const qout)
qout->z = -q1->z;

#ifdef PM_DEBUG
if (!pmQuatIsNorm(&q1)) {
if (!pmQuatIsNorm(q1)) {
#ifdef PM_PRINT_ERROR
pmPrintError("Bad quaternion in pmQuatInv\n");
#endif
Expand Down Expand Up @@ -1421,7 +1423,7 @@ int pmQuatQuatMult(PmQuaternion const * const q1, PmQuaternion const * const q2,
}

#ifdef PM_DEBUG
if (!pmQuatIsNorm(&q1) || !pmQuatIsNorm(&q2)) {
if (!pmQuatIsNorm(q1) || !pmQuatIsNorm(q2)) {
#ifdef PM_PRINT_ERROR
pmPrintError("Bad quaternion in pmQuatQuatMult\n");
#endif
Expand All @@ -1445,7 +1447,7 @@ int pmQuatCartMult(PmQuaternion const * const q1, PmCartesian const * const v2,
vout->z = v2->z + 2.0 * (q1->s * c.z + q1->x * c.y - q1->y * c.x);

#ifdef PM_DEBUG
if (!pmQuatIsNorm(&q1)) {
if (!pmQuatIsNorm(q1)) {
#ifdef PM_PRINT_ERROR
pmPrintError(&"Bad quaternion in pmQuatCartMult\n");
#endif
Expand Down Expand Up @@ -1476,7 +1478,7 @@ int pmPoseInv(PmPose const * const p1, PmPose * const p2)
int r1, r2;

#ifdef PM_DEBUG
if (!pmQuatIsNorm(&p1.rot)) {
if (!pmQuatIsNorm(&p1->rot)) {
#ifdef PM_PRINT_ERROR
pmPrintError("Bad quaternion in pmPoseInv\n");
#endif
Expand Down Expand Up @@ -1539,7 +1541,7 @@ int pmHomInv(PmHomogeneous const * const h1, PmHomogeneous * const h2)
int r1, r2;

#ifdef PM_DEBUG
if (!pmMatIsNorm(h1->rot)) {
if (!pmMatIsNorm(&h1->rot)) {
#ifdef PM_PRINT_ERROR
pmPrintError("Bad rotation matrix in pmHomInv\n");
#endif
Expand Down